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<pre><span class="sourceLineNo">001</span>package il.co.primo4586.frc2014;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import edu.wpi.first.wpilibj.DigitalInput;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import edu.wpi.first.wpilibj.Talon;<a name="line.4"></a>
<span class="sourceLineNo">005</span><a name="line.5"></a>
<span class="sourceLineNo">006</span><a name="line.6"></a>
<span class="sourceLineNo">007</span>import edu.wpi.first.wpilibj.SpeedController;<a name="line.7"></a>
<span class="sourceLineNo">008</span><a name="line.8"></a>
<span class="sourceLineNo">009</span>/**<a name="line.9"></a>
<span class="sourceLineNo">010</span> * The RobotMap is a mapping from the ports sensors and actuators are wired into<a name="line.10"></a>
<span class="sourceLineNo">011</span> * to a variable name. This provides flexibility changing wiring, makes checking<a name="line.11"></a>
<span class="sourceLineNo">012</span> * the wiring easier and significantly reduces the number of magic numbers<a name="line.12"></a>
<span class="sourceLineNo">013</span> * floating around.<a name="line.13"></a>
<span class="sourceLineNo">014</span> */<a name="line.14"></a>
<span class="sourceLineNo">015</span>import edu.wpi.first.wpilibj.AnalogChannel;<a name="line.15"></a>
<span class="sourceLineNo">016</span>import edu.wpi.first.wpilibj.DigitalInput;<a name="line.16"></a>
<span class="sourceLineNo">017</span>import edu.wpi.first.wpilibj.Jaguar;<a name="line.17"></a>
<span class="sourceLineNo">018</span>import edu.wpi.first.wpilibj.Talon;<a name="line.18"></a>
<span class="sourceLineNo">019</span>import edu.wpi.first.wpilibj.Victor;<a name="line.19"></a>
<span class="sourceLineNo">020</span>import edu.wpi.first.wpilibj.livewindow.LiveWindow;<a name="line.20"></a>
<span class="sourceLineNo">021</span>import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;<a name="line.21"></a>
<span class="sourceLineNo">022</span>public class RobotMap {<a name="line.22"></a>
<span class="sourceLineNo">023</span>    // For example to map the left and right motors, you could define the<a name="line.23"></a>
<span class="sourceLineNo">024</span>    // following variables to use with your drivetrain subsystem.<a name="line.24"></a>
<span class="sourceLineNo">025</span>    // public static final int leftMotor = 1;<a name="line.25"></a>
<span class="sourceLineNo">026</span>    // public static final int rightMotor = 2;<a name="line.26"></a>
<span class="sourceLineNo">027</span><a name="line.27"></a>
<span class="sourceLineNo">028</span>    // If you are using multiple modules, make sure to define both the port<a name="line.28"></a>
<span class="sourceLineNo">029</span>    // number and the module. For example you with a rangefinder:<a name="line.29"></a>
<span class="sourceLineNo">030</span>    // public static final int rangefinderPort = 1;<a name="line.30"></a>
<span class="sourceLineNo">031</span>    // public static final int rangefinderModule = 1;<a name="line.31"></a>
<span class="sourceLineNo">032</span>        public static SpeedController collectArm;<a name="line.32"></a>
<span class="sourceLineNo">033</span><a name="line.33"></a>
<span class="sourceLineNo">034</span>        public static SpeedController shooterStretcher; // controls the speed of the streaching motor<a name="line.34"></a>
<span class="sourceLineNo">035</span>        public static SpeedController shooterReleaser; // controls the speed of the realesing motor<a name="line.35"></a>
<span class="sourceLineNo">036</span><a name="line.36"></a>
<span class="sourceLineNo">037</span>        public static SpeedController drivingMotorLeftBack;<a name="line.37"></a>
<span class="sourceLineNo">038</span>    public static SpeedController drivingMotorRightBack;<a name="line.38"></a>
<span class="sourceLineNo">039</span>    public static SpeedController drivingMotorLeftFront;<a name="line.39"></a>
<span class="sourceLineNo">040</span>    public static SpeedController drivingMotorRightFront;<a name="line.40"></a>
<span class="sourceLineNo">041</span><a name="line.41"></a>
<span class="sourceLineNo">042</span>        public static DigitalInput collector_top;<a name="line.42"></a>
<span class="sourceLineNo">043</span>        public static DigitalInput collector_middle;<a name="line.43"></a>
<span class="sourceLineNo">044</span>        public static DigitalInput collector_bottom;<a name="line.44"></a>
<span class="sourceLineNo">045</span><a name="line.45"></a>
<span class="sourceLineNo">046</span>        public static DigitalInput shooterStretcherStart; // digital sensor for when the rubber band is at the start<a name="line.46"></a>
<span class="sourceLineNo">047</span>        public static DigitalInput shooterStretcherEnd; // digital sensor for when the rubber band is at the end<a name="line.47"></a>
<span class="sourceLineNo">048</span>        public static DigitalInput shooterReleaserLock; // digital sensor for when the hook of the rubber band is locked<a name="line.48"></a>
<span class="sourceLineNo">049</span>        public static DigitalInput shooterReleaserFree;<a name="line.49"></a>
<span class="sourceLineNo">050</span>        public static DigitalInput shooterCycleCounter; // optic sensor for counting the cycles of the streaching motor<a name="line.50"></a>
<span class="sourceLineNo">051</span>        /**<a name="line.51"></a>
<span class="sourceLineNo">052</span>         * shooter properties<a name="line.52"></a>
<span class="sourceLineNo">053</span>         * @ author mor<a name="line.53"></a>
<span class="sourceLineNo">054</span>         */<a name="line.54"></a>
<span class="sourceLineNo">055</span><a name="line.55"></a>
<span class="sourceLineNo">056</span><a name="line.56"></a>
<span class="sourceLineNo">057</span><a name="line.57"></a>
<span class="sourceLineNo">058</span><a name="line.58"></a>
<span class="sourceLineNo">059</span>        public static void init()<a name="line.59"></a>
<span class="sourceLineNo">060</span>        {<a name="line.60"></a>
<span class="sourceLineNo">061</span>                collectArm = new Talon(7); // need to check if there is two speed controlers or not<a name="line.61"></a>
<span class="sourceLineNo">062</span><a name="line.62"></a>
<span class="sourceLineNo">063</span>                shooterStretcher = new Talon(5);<a name="line.63"></a>
<span class="sourceLineNo">064</span>                shooterReleaser = new Victor(6);<a name="line.64"></a>
<span class="sourceLineNo">065</span><a name="line.65"></a>
<span class="sourceLineNo">066</span>                drivingMotorLeftBack = new Jaguar(3);<a name="line.66"></a>
<span class="sourceLineNo">067</span>                drivingMotorRightBack = new Jaguar(4);<a name="line.67"></a>
<span class="sourceLineNo">068</span>                drivingMotorLeftFront = new Jaguar(1);<a name="line.68"></a>
<span class="sourceLineNo">069</span>                drivingMotorRightFront = new Jaguar(2);<a name="line.69"></a>
<span class="sourceLineNo">070</span><a name="line.70"></a>
<span class="sourceLineNo">071</span>                <a name="line.71"></a>
<span class="sourceLineNo">072</span>                collector_top = new DigitalInput(6);<a name="line.72"></a>
<span class="sourceLineNo">073</span>                /*<a name="line.73"></a>
<span class="sourceLineNo">074</span>                collector_bottom = new DigitalInput(5);<a name="line.74"></a>
<span class="sourceLineNo">075</span><a name="line.75"></a>
<span class="sourceLineNo">076</span><a name="line.76"></a>
<span class="sourceLineNo">077</span>                shooterStretcherStart = new DigitalInput(2);<a name="line.77"></a>
<span class="sourceLineNo">078</span>                shooterStretcherEnd = new DigitalInput(1);<a name="line.78"></a>
<span class="sourceLineNo">079</span>                shooterReleaserLock = new DigitalInput(4);<a name="line.79"></a>
<span class="sourceLineNo">080</span>                shooterReleaserFree = new DigitalInput(3);<a name="line.80"></a>
<span class="sourceLineNo">081</span><a name="line.81"></a>
<span class="sourceLineNo">082</span>                shooterCycleCounter = new DigitalInput(7);<a name="line.82"></a>
<span class="sourceLineNo">083</span>                */<a name="line.83"></a>
<span class="sourceLineNo">084</span>        }<a name="line.84"></a>
<span class="sourceLineNo">085</span><a name="line.85"></a>
<span class="sourceLineNo">086</span>        public static void initLiveWindow()<a name="line.86"></a>
<span class="sourceLineNo">087</span>        {<a name="line.87"></a>
<span class="sourceLineNo">088</span>                //LiveWindow.addActuator("Collector", "collectArm", (LiveWindowSendable)collectArm);<a name="line.88"></a>
<span class="sourceLineNo">089</span>        }<a name="line.89"></a>
<span class="sourceLineNo">090</span><a name="line.90"></a>
<span class="sourceLineNo">091</span>}<a name="line.91"></a>




























































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